CN111278383A

CN111278383A - System and method for presenting augmented reality in a display of a remote operating system

Info

Publication number: CN111278383A
Application number: CN201880068682.6A
Authority: CN
Inventors: B·D·伊特科维兹; S·P·迪马奥; P·W·莫尔; T·W·罗杰斯
Original assignee: Intuitive Surgical Operations Inc
Current assignee: Intuitive Surgical Operations Inc
Priority date: 2017-10-23
Filing date: 2018-10-18
Publication date: 2020-06-12
Anticipated expiration: 2038-10-18
Also published as: US20210038340A1; US20230380926A1; US11766308B2; US11351005B2; EP3700457A1; US20220249193A1; CN111278383B; WO2019083805A1; EP3700457A4

Abstract

A method is described that includes displaying an image of a surgical environment. The surgical environment image includes virtual control elements for controlling components of the surgical system. The method also includes displaying an image of a body part of the user for interacting with the virtual control element. The method also includes receiving user input from the user using the gesture-based input device while the body part interacts with the virtual control element. The method also includes adjusting settings of components of the surgical system based on the received user input.

Description

System and method for presenting augmented reality in a display of a remote operating system

Cross Reference to Related Applications

This application claims the benefit of U.S. provisional application 62/575759 filed 2017, month 10, 23, which is incorporated herein by reference in its entirety.

Technical Field

The present invention relates to systems and methods for performing teleoperational medical procedures, and more particularly to systems and methods for presenting an enhanced realism in a display of a teleoperational system.

Background

Minimally invasive medical techniques aim to reduce the amount of tissue damaged during invasive medical procedures, thereby reducing patient recovery time, discomfort and harmful side effects. Such minimally invasive techniques may be performed through natural orifices in the patient's anatomy or through one or more surgical incisions. Through these natural orifices or incisions, the clinician may insert medical tools to reach the target tissue site. Minimally invasive medical tools include instruments such as therapeutic instruments, diagnostic instruments, and surgical instruments. Minimally invasive medical tools may also include imaging instruments, such as endoscopic instruments. The imaging instrument provides a field of view for a user within the patient's anatomy. Some minimally invasive medical tools and imaging instruments may be teleoperated or otherwise computer-assisted. In existing telesurgical medical systems, the surgeon's view of his or her limb may be obscured by a display at the surgical console, thereby limiting the surgeon's awareness of the body orientation relative to the control input devices. There is a need for systems and methods to enhance images on a display to create better body orientation awareness.

Disclosure of Invention

Embodiments of the invention are summarized by the appended claims.

In one embodiment, a method includes displaying a surgical environment image. The surgical environment image includes virtual control elements for controlling components of the surgical system. The method also includes displaying an image of a body part of the user for interacting with the virtual control element. The method also includes receiving user input from the user with the gesture-based input device while the body part interacts with the virtual control element. The method also includes adjusting settings of components of the surgical system based on the received user input.

In another embodiment, a method includes displaying an image of a surgical environment including a virtual marker element. The method also includes displaying a body part of the user for interacting with the virtual marking element. The method also includes receiving user input from a user with the gesture-based input device when the body part interacts with the virtual marking element, and generating patient anatomy markings on the patient anatomy based on the received user input.

In another embodiment, a method includes displaying an image of an internal patient anatomy on a display while the patient is in a surgical environment. An image of the internal patient anatomy is received from a first imaging device. The method also includes displaying an image of the surgical environment on the display outside of the patient's anatomy while the patient is in the surgical environment. An image of the surgical environment external to the patient's anatomy is received from the second imaging device. The displayed image of the inner patient anatomy is at least partially surrounded by the displayed image of the outer patient anatomy.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory in nature and are intended to provide an understanding of the present disclosure, without limiting the scope of the disclosure. In this regard, other aspects, features and advantages of the present disclosure will be apparent to those skilled in the art from the following detailed description.

Brief description of the drawings

Aspects of the present disclosure are best understood from the following detailed description when read with the accompanying figures. It is emphasized that, in accordance with the standard practice in the industry, various features are not drawn to scale. In fact, the dimensions of the various features may be arbitrarily increased or decreased for clarity of discussion. Further, the present disclosure may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed.

Fig. 1A is a schematic diagram of a teleoperational medical system according to an embodiment of the present disclosure.

FIG. 1B is a perspective view of a teleoperational manipulator according to one example of principles described herein.

FIG. 1C is a perspective view of a surgeon console for a teleoperational medical system, in accordance with many embodiments.

FIG. 2 illustrates an image enhanced surgical environment image of a limb of a user.

FIG. 3 illustrates a method for adjusting a virtual control element using a cursor image of a user's limb.

FIG. 4A illustrates a cursor image of a user's limb interacting with a virtual control element.

FIG. 4B illustrates a cursor image of a user's limb interacting with an image of a part in a surgical environment.

FIG. 5 illustrates a cursor image of a user's limb interacting with an information icon.

FIG. 6 illustrates a method for patient labeling using a gesture-based input device.

FIG. 7 shows an image of a surgical environment in which a cursor image of a user's limb interacts with an image of a marker element.

Fig. 8 illustrates a method of displaying an image of an internal patient anatomy at least partially surrounded by a displayed image of an external patient anatomy.

Fig. 9 shows an image of an internal patient anatomy at least partially surrounded by a displayed image of an external patient anatomy.

Detailed Description

For the purposes of promoting an understanding of the principles of the disclosure, reference will now be made to the embodiments illustrated in the drawings and specific language will be used to describe the same. It will nevertheless be understood that no limitation of the scope of the disclosure is thereby intended. In the following detailed description of various aspects of the invention, numerous specific details are set forth in order to provide a thorough understanding of the disclosed embodiments. It will be apparent, however, to one skilled in the art that embodiments of the present disclosure may be practiced without these specific details. In other instances, well-known methods, procedures, components, and circuits have not been described in detail as not to unnecessarily obscure aspects of the embodiments of the invention.

Any alterations and further modifications in the described devices, apparatus, methods, and any further applications of the principles of the disclosure as described herein are contemplated as would normally occur to one skilled in the art to which the disclosure relates. In particular, it is fully contemplated that the features, components, and/or steps described in connection with one embodiment may be combined with the features, components, and/or steps described in connection with other embodiments of the present disclosure. Additionally, dimensions provided herein are for specific examples, and it is contemplated that the concepts of the present disclosure may be implemented with different sizes, dimensions, and/or ratios. To avoid unnecessary repetition of the description, one or more components or actions described in accordance with one illustrative embodiment may be used or omitted in accordance with the applicability of other illustrative embodiments. For the sake of brevity, many iterations of these combinations will not be described separately. For purposes of simplicity, the same reference numbers will be used throughout the drawings to refer to the same or like parts in certain instances.

The following embodiments will describe various instruments and portions of instruments according to their state in three-dimensional space. As used herein, the term "orientation" refers to the position of an object or a portion of an object in three-dimensional space (e.g., three translational degrees of freedom along cartesian X, Y, Z coordinates). As used herein, the term "orientation" refers to the rotational placement (three rotational degrees of freedom, e.g., roll, pitch, and yaw) of an object or a portion of an object. As used herein, the term "pose" refers to the position of an object or a portion of an object in at least one translational degree of freedom and the orientation of the object or a portion of an object in at least one rotational degree of freedom (up to a total of six degrees of freedom).

Referring to FIG. 1A, a teleoperational medical system for use in medical procedures, including, for example, diagnostic, therapeutic, or surgical procedures, is indicated generally by the reference numeral 10. As will be described, the teleoperational medical system of the present disclosure is under teleoperational control of the surgeon. In an alternative embodiment, the teleoperational medical system may be under partial control of a computer programmed to execute the procedure or sub-procedure. In other alternative embodiments, a fully automated medical system under the full control of a computer programmed to perform the procedure or sub-procedure may be used to perform the procedure or sub-procedure. As shown in fig. 1A, a teleoperational medical system 10 is positioned in a surgical environment 11 and generally includes a teleoperational assembly 12 mounted on or near an operating table O on which a patient P is located. The teleoperational assembly 12 may be referred to as a patient side cart. A medical instrument system 14 and an endoscopic imaging system 15 are operatively coupled to the teleoperational assembly 12. The operator input system 16 allows a surgeon or other type of clinician S to view images of or representative of the surgical site and to control operation of the medical instrument system 14 and/or the endoscopic imaging system 15.

Operator input system 16 may be located at a surgeon's console, which is typically located in the same room as operating table O. However, it should be understood that surgeon S may be located in a different room or a completely different building than patient P. Operator input system 16 typically includes one or more controls for controlling medical instrument system 14. The control device(s) may include one or more of any number of various input devices, such as a handle, joystick, trackball, data glove, trigger gun, pedal, manual control, voice recognition device, touch screen, body motion or presence sensor, and the like. In some embodiments, the control device(s) will be provided with the same degrees of freedom as the medical instrument of the teleoperational assembly to provide the surgeon with a sense of presence/telepresence, i.e., such a sense-the control device(s) are integral with the instrument so that the surgeon has a strong sense of directly controlling the instrument, as at the surgical site. In other embodiments, the control device(s) may have more or fewer degrees of freedom than the associated medical instrument and still provide the surgeon with telepresence. In some embodiments, the control device(s) are manual input devices that move in six degrees of freedom and may also include an actuatable handle for actuating the instrument (e.g., for closing a grasping clamp end effector, applying an electrical potential to an electrode, delivering a drug treatment, and the like).

The teleoperational assembly 12 supports and manipulates the medical instrument system 14 as the surgeon S views the surgical site through the console 16. Images of the surgical site may be obtained by an endoscopic imaging system 15 (such as a stereoscopic endoscope), which may be manipulated by the teleoperational assembly 12 to orient the endoscope 15. The number of medical instrument systems 14 used at one time typically depends on the diagnostic or surgical procedure and the space constraints within the operating room, among other factors. The teleoperational assembly 12 may include a kinematic structure of one or more non-servo controlled links (e.g., one or more links that may be manually positioned and locked in place, commonly referred to as a setup structure) and a teleoperational manipulator. The teleoperational assembly 12 includes a plurality of motors that drive inputs on the medical instrument system 14. These motors move in response to commands from a control system (e.g., control system 20). The motor includes a drive system that, when coupled to the medical instrument system 14, can advance the medical instrument into a natural or surgically created anatomical orifice. Other motorized drive systems may move the distal end of the medical instrument in multiple degrees of freedom, which may include three degrees of linear motion (e.g., linear motion along X, Y, Z cartesian axes) and three degrees of rotational motion (e.g., rotation about X, Y, Z cartesian axes). Additionally, the motor may be used to actuate an articulatable end effector of the instrument to grasp tissue in a clamp of a biopsy device or the like. Instrument 14 may include an end effector having a single working member, such as a scalpel, a blunt blade, an optical fiber, or an electrode. Other end effectors may include, for example, forceps, graspers, scissors, or clip appliers.

The teleoperational medical system 10 also includes a control system 20. Control system 20 includes at least one memory 24 and at least one processor 22, and typically a plurality of processors, for effecting control between medical instrument system 14, operator input system 16, and other auxiliary systems, which may include, for example, an imaging system, an audio system, a fluid delivery system, a display system, an illumination system, a steering control system, an irrigation system, and/or a suction system. The control system 20 may be used to process images of the surgical environment from the imaging system 15 for subsequent display to the surgeon S via the surgeon' S console 16. The control system 20 also includes programming instructions (e.g., a computer-readable medium storing instructions) to implement some or all of the methods described in accordance with aspects disclosed herein. While the control system 20 is shown as a single block in the simplified schematic of fig. 1A, the system may include two or more data processing circuits, with a portion of the processing optionally being performed on or near the teleoperational assembly 12, another portion of the processing being performed at the operator input system 16, and the like. Any of a variety of centralized or distributed data processing architectures may be employed. Similarly, the programming instructions may be implemented as separate programs or subroutines, or they may be integrated into many other aspects of the remote operating system described herein. In one embodiment, control system 20 supports wireless communication protocols such as Bluetooth, IrDA (Infrared data communication), HomeRF (Home radio frequency), IEEE 802.11, DECT (digital enhanced Wireless communication System), and wireless telemetry.

In some embodiments, the control system 20 may include one or more servo controllers that receive force and/or torque feedback from the medical instrument system 14. In response to the feedback, the servo controller transmits a signal to the operator input system 16. The servo controller(s) may also transmit signals instructing teleoperational assembly 12 to move medical instrument system(s) 14 and/or endoscopic imaging system 15, which medical instrument system 14 and/or endoscopic imaging system 15 extends through an opening in the body to an internal surgical site within the patient. Any suitable conventional or dedicated servo controller may be used. The servo controller may be separate from or integrated with the teleoperational assembly 12. In some embodiments, the servo controller and teleoperational assembly are provided as part of a teleoperational arm cart located near the patient's body.

The control system 20 may be coupled with the endoscopic imaging system 15 and may include a processor to process the captured images for subsequent display, such as on a surgeon console to the surgeon or on another suitable display located locally and/or remotely. For example, where a stereoscopic endoscope is used, the control system 20 may process the captured images to present the surgeon with coordinated stereoscopic images of the surgical site. Such coordination may include alignment between the opposing images, and may include adjusting a stereoscopic working distance of the stereoscopic endoscope.

A surgical environment monitoring system including one or more monitoring devices, such as

cameras

27a, 27b, 27c, is positioned in the surgical environment 11. The cameras 27a-27c may be used to capture images in the surgical environment 11 outside the anatomy of the patient P. For example, and as will be further described, the cameras 27a-27c may be used to monitor the limbs of the surgeon S during the procedure. Images of the surgeon's hands and feet may be presented to the surgeon via a display at console 16 to assist the surgeon during transitions that require movement of the limb to control operation of system 10. The cameras 27a-27c may also or alternatively be used to capture images of the external patient anatomy, teleoperational components, other equipment in the surgical environment, and personnel in the surgical environment. The cameras 27a-27c may be mounted in a variety of ways, including on separate bases or tripods, from the ceiling, on equipment in the surgical environment, including the orienting platform 53, on the shaft of the instrument 14 or endoscope 15 outside of the patient' S anatomy, or on equipment worn by the surgeon S or other personnel, such as a head-mounted camera.

A gesture-based interface (GBI)29 may also be located in the surgical environment 11. The GBI may be a touch-based interface system, such as a tablet computer, or may be a three-dimensional tracking interface system, such as the Leap Motion system available from Leap Motion, san francisco, california or Kinect available from Microsoft Corporation of redmond, washington. Additionally or alternatively, the GBI may be a wearable device, such as a head-mounted device. The GBI 29 may be used to track two-dimensional or three-dimensional user input from the surgeon S or other surgical personnel.

A Patient Side Interface (PSI)26 may be located or positionable near the patient's bedside. The PSI 26 may allow the surgeon S to access the patient and still have access to at least some functions of the console 16 or additional inputs not available at the console 16. PSI 26 may include a display for displaying images similar to or different from the images displayed at console 16. PSI 26 may include a head mounted display system, a boom mounted display system, or a dome-type display system that provides a primary image and a surrounding image or 360 degree image of the surgical environment. PSI 26 may also include a user input device such as a tablet, trackball, or three-dimensional input system. In some embodiments, the PSI 26 may comprise all or part of the components of the GBI 29.

In alternative embodiments, the teleoperational system may include more than one teleoperational component and/or more than one operator input system. The exact number of manipulator assemblies will depend on the surgical procedure and the space constraints within the operating room, among other factors. The operator input systems may be located at the same location or may be located at separate locations. Multiple operator input systems allow more than one operator to control one or more manipulator assemblies in various combinations.

Fig. 1B is a perspective view of one embodiment of the teleoperational assembly 12, which may be referred to as a patient side cart. The illustrated patient side cart 12 provides for manipulation of three

surgical tools

30a, 30b, 30c (e.g., the instrument system 14) and an imaging device 28 (e.g., the endoscopic imaging system 15), the imaging device 28 being, for example, a stereoscopic endoscope for capturing images of a procedure site. The imaging device may transmit signals to the control system 20 via the cable 56. Manipulation is provided by a remote operating mechanism having a plurality of joints. The imaging device 28 and the surgical tools 30a-30c may be positioned and manipulated through an incision in a patient such that a kinematic remote center is maintained at the incision to minimize the size of the incision. When the distal ends of the surgical tools 30a-30c are within the field of view of the imaging device 28, the image of the surgical environment within the patient's anatomy may include an image of the distal ends of the surgical tools 30a-30 c.

The patient side cart 12 includes a drivable base 58. The drivable base 58 is connected to a telescopic column (telescoping column)57, the telescopic column 57 allowing the height of the arm 54 to be adjusted. The arm 54 may include a swivel joint 55 that both rotates and moves up and down. Each arm 54 may be connected to an orienting platform 53. The orienting platform 53 may be capable of rotating 360 degrees. The patient side cart 12 may further comprise a telescopic horizontal boom 52 for moving the orienting platform 53 in a horizontal direction.

In this example, each arm 54 is connected to a manipulator arm 51. Each manipulator arm 51 may be connected to a respective one of the medical tools 30a-30c or to the imaging device 28. The manipulator arm 51 may be remotely operable. In some examples, the arm 54 connected to the orienting platform is not remotely operable. Rather, the arms 54 are positioned as desired before the surgeon 18 begins to operate with the teleoperational components.

Endoscopic imaging systems (e.g., systems 15, 28) can be provided in a variety of configurations, including rigid or flexible endoscopes. Rigid endoscopes include a rigid tube that houses a relay lens system for transmitting images from the distal end to the proximal end of the endoscope. Flexible endoscopes transmit images using one or more flexible optical fibers. Digital image-based endoscopes have a "chip-on-tip" design, in which a distal digital sensor, such as one or more Charge Coupled Devices (CCDs) or Complementary Metal Oxide Semiconductor (CMOS) devices, stores image data. Endoscopic imaging systems may provide two-dimensional or three-dimensional images to a viewer. Two-dimensional images may provide limited depth perception. Three-dimensional stereoscopic endoscopic images may provide a more accurate perception of depth for the viewer. Stereoscopic endoscopic instruments use a stereoscopic camera to capture stereoscopic images of a patient's anatomy. The endoscopic instrument may be a completely sterilizable assembly, with the endoscope cable, handle, and shaft all rigidly coupled and hermetically sealed.

Fig. 1C is a perspective view of surgeon console 16. The surgeon console 16 includes a left eye display 32 and a right eye display 34 for presenting a coordinated stereoscopic view of the surgical environment enabling depth perception to the surgeon S. The displayed image of the surgical environment may be obtained from an imaging system, such as an endoscopic imaging system. Additionally or alternatively, the displayed image of the surgical environment may include an image from an anatomical model created from a pre-operative or intra-operative image dataset. A pre-or intra-operative image dataset of a patient anatomy may be obtained using external or non-invasive imaging techniques such as Computed Tomography (CT), Magnetic Resonance Imaging (MRI), fluoroscopy, thermography, ultrasound, Optical Coherence Tomography (OCT), thermal imaging, impedance imaging, laser imaging, nanotube X-ray imaging, or the like. Software is used, either alone or in combination with manual input, to convert the recorded images into a segmented two-dimensional or three-dimensional composite model representing part or the entire anatomical organ or anatomical region. The image dataset is associated with a composite representation. The images used to generate the composite representation may be recorded preoperatively or intraoperatively during a clinical procedure. The preoperative or intraoperative image data may be presented as two-, three-, or four-dimensional (including, for example, time-based or velocity-based information) images, or as images from a model created from a preoperative or intraoperative image dataset. The images from the different imaging modes may be displayed one at a time (e.g., the surgeon may switch the images of the different imaging modes), may be displayed in parallel (e.g., in multiple windows of a composite display), or one may be overlaid or superimposed on the other.

The console 16 also includes one or more input controls 36 that, in turn, cause the teleoperational assembly 12 to manipulate one or more instruments or an endoscopic imaging system. The input control device 36 may provide the same degrees of freedom as its associated instrument 14 to provide the surgeon S with telepresence, or a perception that the input control device 36 is integral with the instrument 14 so that the surgeon has a strong sense of directly controlling the instrument 14. To this end, orientation sensors, force sensors, and tactile feedback sensors (not shown) may be employed to transmit orientation, force, and tactile sensations from the instrument 14 back to the surgeon's hand through the input control device 36. The input control 37 is a foot pedal that receives input from the user's foot. Alternatively, the input control device 38 may comprise a touch-based input device, such as a tablet computer. Optionally, a gesture-based interface may be included in console 16.

During a teleoperational procedure, the complete virtual image and/or augmented reality image may be provided to the surgeon S and/or other surgical personnel to provide a broader view of the surgical environment, to provide additional information about the patient or procedure, and/or to provide additional controls used during the procedure. Various systems and methods for providing virtual images or augmented reality images during a remote operation procedure are disclosed in the following documents: U.S. Pat. No. 5,8520027, filed 5/14/2010, disclosing "Method and System of See-Through Console Overlay"; international publication No. WO2014/176403, filed 24/4/2014, disclosing "Surgical Equipment Control Input Visualization Field"; US patent US8398541, filed 11.8.2008, disclosing "Interactive User Interfaces for viral minimalibearing acquisition Systems"; U.S. Pat. No. 4,9788909, issued on 11.11.2013 and disclosing "Synthetic reproduction of a scientific Instrument"; and U.S. Pat. No. 5,14,2010, filed 5/2010, disclosing "Method and System of Hand segmentation and Overlay Using Depth Data", which is incorporated herein by reference in its entirety.

Fig. 2 is a display 100 showing an image 102 of a surgical environment, which in this example is an internal patient anatomy image obtained by an endoscopic imaging system (e.g., systems 15, 28) enhanced with a cursor image 104 of a real-time image of a user's limb, which in this example is the surgeon's right hand. An image of the surgeon's hand may be obtained by the cameras 27a-27c or the GBI system 29 and used as a cursor to indicate the current position of interaction with the object in the image 102. The endoscopic image 102 includes an image of an instrument 106 in a surgical environment. In this example, the instrument 106 is a retractor. When the teleoperational system is in the adjustment mode, the surgeon S may move his right hand, moving the cursor 104 to interact with the image of the instrument 106 (e.g., retractor) to cause an adjustment of the actual orientation of the retractor in the surgical environment. The cursor image 104 of the surgeon's hand allows the surgeon to visualize the hand he actually selects and moves the retractor 106. Movement of the retractor in the surgical environment may be generated by a teleoperational system in response to commanded movement of the surgeon's hand. In various alternative embodiments, the cursor image may be a static (i.e., previously captured) image of a user's limb (e.g., hand, finger, foot) or another type of static cursor symbol (e.g., an image of an eye or head) depicting a portion of the human anatomy.

FIG. 3 illustrates a method 150 of adjusting a virtual control element using a cursor image of a user's limb. The method 150 is illustrated in fig. 3 as a set of operations or processes. Not all illustrated processes may be performed in all embodiments of method 150. Additionally, one or more processes not explicitly shown in FIG. 3 may be included before, after, between, or as part of the illustrated processes. In some embodiments, one or more processes of method 150 may be implemented, at least in part, in executable code stored on a non-transitory tangible machine-readable medium, which when executed by one or more processors (e.g., a processor of control system 20) may cause the one or more processors to perform the one or more processes.

At process 152, the virtual control element is displayed. The virtual control element may be a slider knob, toggle switch, dial, or other element for controlling binary system functions (e.g., on/off) or variable system functions (e.g., power level, brightness level, sound level, frequency level) of a component of a teleoperational system or an auxiliary equipment component in a surgical environment. At process 154, a cursor image of a body part (e.g., a hand of surgeon S) of a user (e.g., surgeon S) controlling the virtual control element is displayed. At process 156, the gesture-based interface (e.g., GBI 29) receives input from the surgeon S by recording (register) movements of the user 'S hand that virtually manipulates the virtual control element as the real-time cursor image of the user' S hand interacts with the virtual control element. At process 158, the binary system function or the variable system function is changed or adjusted based on the movement of the user's hand. The method 150 is further described with reference to fig. 4 and 5.

Referring to fig. 4A, an image 200 includes a cursor image of a user's limb (e.g., right hand) 202 interacting with a virtual control element 204, the virtual control element 204 including a virtual slider 206 in this example. A graphical element, such as a graphical identifier 208 of the system, controlled by the control element 204 may also be included. In this example, the identifier 208 is a textual description, but in other examples, the identifier 208 may be a graphical representation of a system controlled by the control element. In this example, the virtual control element 204 may control a variable level of power, sound, frequency, or other characteristics of the auxiliary system. The auxiliary system may be, for example, a generator, a loudspeaker, a display screen or a flushing system. When the user's hand moves the slider 206 to the right, the power level of the generator increases, and as the slider moves to the left, the power level decreases. The user's hand may be tracked by the GBI or touch-based input system. Additionally, real-time cursor images of the user's hand 202 may be generated by the cameras 27a-27c to provide the user with spatial awareness of his hand relative to the virtual control element 204. Optionally, the

images

202, 208 may be superimposed on, integrated with, or otherwise enhanced on an image of the internal patient anatomy or an image of the surgical environment external to the patient anatomy.

Fig. 4B shows an image 220 of the real-time cursor image 202 interacting with a real-time image of an auxiliary component 222 in the surgical environment. In this example, the image 220 captures a surgical environment that includes an auxiliary component 222. The image of the auxiliary component in image 220 serves as a virtual control element for the actual auxiliary component 222 in the surgical environment. For example, if the auxiliary component 222 is a high frequency generator, the surgeon may gesture with a predetermined movement of his hand toward the auxiliary component 222 in the surgical environment to change the power level of the generator. An upward hand or finger gesture may correspond to an increase in power level, and a downward hand or finger gesture may correspond to a decrease in power level. Alternatively, the auxiliary component 222 may include a power control knob 224, and a clockwise gesture toward the knob 224 may correspond to an increase in power level, while a counterclockwise gesture may correspond to a decrease in power level. In alternative embodiments, the auxiliary system may be, for example, a speaker, a display, or a flushing system. The user's hand may be tracked by the GBI or touch-based input system. Additionally, real-time cursor images of the user's hand 202 may be generated by the cameras 27a-27c to provide the user with spatial awareness of his hand relative to the virtual control elements.

Fig. 5 shows an image 230 of a surgical environment with a real-time cursor image 232, the real-time cursor image 232 interacting with an information icon 234a displayed on the surgical environment. In this example, image 230 captures a surgical

environment including instruments

236a, 236b, and 236 c. An information icon 234a is displayed adjacent to the icon 234 a. An information icon 234b is displayed adjacent to the icon 234 b. An information icon 234c is displayed adjacent to icon 234 c. When the cursor image 232 contacts or is proximate to one of the information icons 234a-234b, information about the respective instrument 236a-236c is displayed in the information cloud. For example, when cursor image 232 interacts with information icon 234a to provide information about tool 236a, information cloud 238 is displayed. The information provided may include, for example, the instrument type, the instrument activation status, instructions regarding the operation or troubleshooting of the instrument, and/or buttons that may be activated by the cursor 232 to effect operation of the instrument 236 a.

In an alternative embodiment, the cursor image of the user's limb may be a real-time image of the user's foot as it moves between pedal inputs 37. Real-time images of the foot and pedals can be obtained by the cameras 27a-27c and can be presented as separately displayed images, as a picture-in-picture within the current endoscopic image, or behind a semi-transparent current endoscopic image to provide the surgeon with the sensation that he is looking through the console 16 to view his foot as it moves toward the different pedals. In another alternative embodiment, the image of the user's limb may be a real-time image of the user's hand as it is removed from the input control device 36 or engaged with the input control device 36. Real-time images of the hand and control device 36 may be acquired by the cameras 27a-27c and may be presented as separately displayed images, as a picture-in-picture within the current endoscopic image, or behind a semi-transparent current endoscopic image to provide the surgeon with the sensation that he is looking through the console 16 to view his hand as it enters or leaves the control device 36. Allowing the surgeon to see his hands or feet as they transition between orientations may enhance the surgeon's confidence that his hands and feet are properly engaged with the

input devices

36, 37, where the user's hands and feet are not directly visible due to the console 16 blocking his view.

Fig. 6 illustrates a method 250 of patient labeling using a gesture-based input device. The method 250 is illustrated in fig. 6 as a set of operations or processes. Not all illustrated processes are performed in all embodiments of the method 250. Additionally, one or more processes not explicitly shown in FIG. 6 may be included before, after, intermediate, or as part of the processes shown. In some embodiments, one or more processes of method 250 may be implemented, at least in part, in executable code stored on a non-transitory tangible machine-readable medium, which when executed by one or more processors (e.g., a processor of control system 20) may cause the one or more processors to perform the one or more processes.

At process 252, a surgical environment including a virtual marker element is displayed. The virtual marking element may be used, for example, to indicate a surgeon's preferred access port location, or may mark anatomical features of a patient. At process 254, a cursor image of a body part (e.g., a hand of surgeon S) of a user (e.g., surgeon S) interacting with the virtual marking element is displayed. At process 256, the gesture-based interface (e.g., GBI 29) receives input from the surgeon S by recording movements of the user 'S hand that virtually interact with the marker element as the real-time cursor image of the user' S hand interacts with the virtual marker element. For example, the movement of the user's hand may be used to create a new mark or move a mark from a default position. At process 258, the patient anatomy is marked (e.g., using light, ink, or other marking material) based on the position of the marking element. The method 250 is further described with reference to fig. 7.

Referring to fig. 7, a surgical environment image 300 includes an external image 301 of a patient's anatomy. A cursor image of a user's limb (e.g., right hand) 202 interacts with the

virtual marking elements

302, 304, 306. The virtual marking element may be created by a gesture of the user's hand or may be created in a default position. The user's hand may interact with the virtual marking element 306 to move the marking element to a position different from the position where the marking was originally created. In this example, the

virtual marker elements

302, 304, 306 may be used to mark port locations on the image 301 of the patient anatomy. The virtual marker element is virtually dragged relative to the image 301 of the patient anatomy by the tracked motion of the user's hand. The user's hand may be tracked by the GBI or touch-based input system. Additionally, real-time cursor images of the user's hand 202 may be generated by the cameras 27a-27c to provide spatial awareness to the user with respect to the

virtual marker elements

302, 304, 306. After the

virtual marking elements

302, 304, 306 are established relative to the image 301 of the patient's anatomy, corresponding actual markings may be made on the patient's anatomy using light, ink, or other marking media to mark the location of the access port prior to the surgical procedure. For example, the visual marker element may indicate candidate incision locations that may be evaluated by the control system to provide feedback on the feasibility of the incision location by evaluating the accessible workspace and the likelihood of internal or external collisions. The virtual marking element and the surrounding area may be color coded based on the predicted feasibility measure.

Fig. 8 illustrates a method 450 of displaying an image of an internal patient anatomy at least partially surrounded by a displayed image of an external patient anatomy. The method 450 is illustrated in fig. 8 as a set of operations or processes. Not all illustrated processes are performed in all embodiments of method 450. Additionally, one or more processes not explicitly illustrated in FIG. 8 may be included before, after, between, or as part of the illustrated processes. In some embodiments, one or more processes of method 450 may be implemented at least in part in the form of executable code stored on a non-transitory tangible machine-readable medium, which when executed by one or more processors (e.g., a processor of control system 20) may cause the one or more processors to perform the one or more processes.

At process 452, a first image is received from a first imaging device. The first image may be an internal view of the patient's anatomy, for example, received from an endoscopic device. At process 454, a second image is received from a second imaging device. The second image may be an external view of the patient's anatomy and/or the surgical environment surrounding the patient's anatomy. At process 456, the first image is displayed in a spatial background relative to the second image. For example, as shown in fig. 9, the display 500 includes an image 502 of the internal patient anatomy at least partially surrounded by a displayed image 504 of the external patient anatomy. Image 502 may be obtained by an endoscopic imaging system (e.g., systems 15, 28), and image 504 may be obtained by an imaging system such as cameras 27a-27 c. The viewing orientations of the interior and exterior views may be aligned. For example, the exterior view may be digitally rotated to share the same roll angle as the interior (e.g., endoscopic) view. Additionally or alternatively, the pitch and/or yaw of the exterior view may be aligned with the viewing direction of the interior view, such that the interior and exterior motions may be intuitively controlled from the same frame of reference.

One or more elements of embodiments of the invention may be implemented in software for execution on a processor of a computer system, such as a control processing system. When implemented in software, the elements of an embodiment of the invention are essentially the code segments to perform the necessary tasks. The program or code segments can be stored in a processor readable storage medium or device which may have been downloaded by way of a computer data signal embodied in a carrier wave over a transmission medium or communication link. Processor-readable storage devices may include any medium capable of storing information, including optical, semiconductor, and magnetic media. Examples of processor readable storage include electronic circuitry; a semiconductor device, a semiconductor memory device, a Read Only Memory (ROM), a flash memory, an Erasable Programmable Read Only Memory (EPROM); floppy disks, CD-ROMs, optical disks, hard disks, or other storage devices. These code segments may be downloaded via computer networks such as the internet, intranet, etc.

Note that the processing and display presented may not be relevant to any particular computer or other apparatus itself. Various general-purpose systems may be used with programs in accordance with the teachings herein, or it may prove convenient to construct a more specialized apparatus to perform the operations described. The required structure for a variety of these systems will appear as elements in the claims. In addition, embodiments of the present invention are not described with reference to any particular programming language. It will be appreciated that a variety of programming languages may be used to implement the teachings of the invention as described herein.

While certain exemplary embodiments of the invention have been described and shown in the accompanying drawings, it is to be understood that such embodiments are merely illustrative of and not restrictive on the broad invention, and that embodiments of the invention not be limited to the specific constructions and arrangements shown and described, since various other modifications may occur to those ordinarily skilled in the art.

Claims

1. A method, comprising:

displaying a surgical environment image, wherein the surgical environment image includes virtual control elements for controlling components of a surgical system;

displaying an image of a body part of a user, the body part for interacting with a virtual control element;

receiving user input from the user using a gesture-based input device while the body part interacts with the virtual control element; and

adjusting settings of the components of the surgical system based on the received user input.

2. The method of claim 1, wherein the virtual control element comprises a graphical element superimposed on the surgical environment image.

3. The method of claim 1, wherein the virtual control element comprises an image of the component of the surgical system in the surgical environment image.

4. The method of claim 1, wherein the gesture-based input device is configured to receive three-dimensional user input.

5. The method of claim 1, wherein the gesture-based input device comprises a tablet device.

6. The method of claim 1, wherein the gesture-based input device comprises a user-wearable device.

7. The method of claim 1, wherein the body part for providing input to a gesture-based input device is a user hand.

8. The method of claim 1, wherein the body part for providing input to a gesture-based input device is a user foot.

9. The method of claim 1, wherein the component is a high frequency generator.

10. The method of claim 1, wherein the surgical environment image is displayed on a head mounted display device.

11. A method, comprising:

displaying a surgical environment image, wherein the surgical environment image includes a virtual marker element;

displaying a body part of a user for interacting with the virtual marking element;

receiving user input from the user with a gesture-based input device while the body part interacts with the virtual marking element; and

patient anatomy markers are generated on the patient anatomy based on the received user input.

12. The method of claim 11, wherein the virtual marking element comprises a plurality of virtual port markings for marking locations of a plurality of anatomical access ports on the patient anatomy.

13. The method of claim 11, wherein the surgical environment image is an endoscopic image of an interior of the patient anatomy.

14. The method of claim 11, wherein the surgical environment image is an external image of the patient anatomy.

15. The method of claim 11, wherein the gesture-based input device is configured to receive three-dimensional user input.

16. The method of claim 11, wherein the gesture-based input device comprises a tablet device.

17. The method of claim 11, wherein the gesture-based input device comprises a user-wearable device.

18. The method of claim 11, wherein the body part for providing input to a gesture-based input device is a user hand.

19. The method of claim 11, wherein the body part for providing input to a gesture-based input device is a user foot.

20. A method, comprising:

displaying an image of an internal patient anatomy on a display while a patient is in a surgical environment, the image of the internal patient anatomy received from a first imaging device; and

displaying, on the display, an image of the surgical environment external to the patient anatomy while the patient is located in the surgical environment, the image of the surgical environment external to the patient anatomy received from a second imaging device,

wherein the displayed image of the inner patient anatomy is at least partially surrounded by the displayed image of the outer patient anatomy.

21. The method of claim 20, wherein the second imaging device is positioned on an instrument in the surgical environment.

22. The method of claim 20, wherein the display is included in a head mounted device.

23. The method of claim 20, wherein the display is included in a patient-side device.

24. The method of claim 20, wherein the first imaging device is an endoscopic device having a line of sight axis and the second imaging device is oriented along the line of sight axis.

25. The method of claim 20, wherein the image of the internal patient anatomy is obtained preoperatively by the first imaging device.

26. The method of claim 20, wherein the image of the internal patient anatomy is a CT image.

27. The method of claim 20, wherein the image of the internal patient anatomy is an X-ray image.